{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:BGYQKBYBQ3P6S2TXOAGHSLRMT6","short_pith_number":"pith:BGYQKBYB","schema_version":"1.0","canonical_sha256":"09b105070186dfe96a77700c792e2c9f9414302299f086a0210404cff003247c","source":{"kind":"arxiv","id":"2605.21398","version":1},"attestation_state":"computed","paper":{"title":"From swept contact to pose: Probe-aware registration via complementary-shape docking","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chang Shu, Chen Chen, Jianxia Hou, Shiji Song, Xiangjie Yan, Xiang Li, Yifan Xu, Yunwen Li","submitted_at":"2026-05-20T16:56:39Z","abstract_excerpt":"Accurate registration between a prior model and the real scene is essential for high-precision robotic manipulation, yet optical methods suffer from long calibration chains, line-of-sight constraints, and fabrication errors. We propose a calibration-free alternative that reformulates contact registration as complementary-shape docking between the object and the probe's swept volume, explicitly accounting for probe geometry and leveraging both contact and non-contact evidence. Our solver integrates a global-to-local search via 3D FFT correlation over low-discrepancy SO(3) samples, then followed"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2605.21398","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-20T16:56:39Z","cross_cats_sorted":[],"title_canon_sha256":"8c66052542b630349c2a9e2c133fc07e2e70c215c9b722eded7e1b83ca09f75b","abstract_canon_sha256":"ad462687d3a47de301044528707837e9c51712f50db5eb2bfde1811dff3c8f84"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-21T02:05:32.856355Z","signature_b64":"CDvLdKFutKpK0nJa9/iGbvhXuvmIUMCrIMrYVXCjBmTysefV/S2z7oJnrWZ7/CdQ2g6FXVW4jCc2WYyzfWZnBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"09b105070186dfe96a77700c792e2c9f9414302299f086a0210404cff003247c","last_reissued_at":"2026-05-21T02:05:32.855684Z","signature_status":"signed_v1","first_computed_at":"2026-05-21T02:05:32.855684Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"From swept contact to pose: Probe-aware registration via complementary-shape docking","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chang Shu, Chen Chen, Jianxia Hou, Shiji Song, Xiangjie Yan, Xiang Li, Yifan Xu, Yunwen Li","submitted_at":"2026-05-20T16:56:39Z","abstract_excerpt":"Accurate registration between a prior model and the real scene is essential for high-precision robotic manipulation, yet optical methods suffer from long calibration chains, line-of-sight constraints, and fabrication errors. We propose a calibration-free alternative that reformulates contact registration as complementary-shape docking between the object and the probe's swept volume, explicitly accounting for probe geometry and leveraging both contact and non-contact evidence. Our solver integrates a global-to-local search via 3D FFT correlation over low-discrepancy SO(3) samples, then followed"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.21398","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.21398/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"aliases":[{"alias_kind":"arxiv","alias_value":"2605.21398","created_at":"2026-05-21T02:05:32.855791+00:00"},{"alias_kind":"arxiv_version","alias_value":"2605.21398v1","created_at":"2026-05-21T02:05:32.855791+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.21398","created_at":"2026-05-21T02:05:32.855791+00:00"},{"alias_kind":"pith_short_12","alias_value":"BGYQKBYBQ3P6","created_at":"2026-05-21T02:05:32.855791+00:00"},{"alias_kind":"pith_short_16","alias_value":"BGYQKBYBQ3P6S2TX","created_at":"2026-05-21T02:05:32.855791+00:00"},{"alias_kind":"pith_short_8","alias_value":"BGYQKBYB","created_at":"2026-05-21T02:05:32.855791+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/BGYQKBYBQ3P6S2TXOAGHSLRMT6","json":"https://pith.science/pith/BGYQKBYBQ3P6S2TXOAGHSLRMT6.json","graph_json":"https://pith.science/api/pith-number/BGYQKBYBQ3P6S2TXOAGHSLRMT6/graph.json","events_json":"https://pith.science/api/pith-number/BGYQKBYBQ3P6S2TXOAGHSLRMT6/events.json","paper":"https://pith.science/paper/BGYQKBYB"},"agent_actions":{"view_html":"https://pith.science/pith/BGYQKBYBQ3P6S2TXOAGHSLRMT6","download_json":"https://pith.science/pith/BGYQKBYBQ3P6S2TXOAGHSLRMT6.json","view_paper":"https://pith.science/paper/BGYQKBYB","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2605.21398&json=true","fetch_graph":"https://pith.science/api/pith-number/BGYQKBYBQ3P6S2TXOAGHSLRMT6/graph.json","fetch_events":"https://pith.science/api/pith-number/BGYQKBYBQ3P6S2TXOAGHSLRMT6/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/BGYQKBYBQ3P6S2TXOAGHSLRMT6/action/timestamp_anchor","attest_storage":"https://pith.science/pith/BGYQKBYBQ3P6S2TXOAGHSLRMT6/action/storage_attestation","attest_author":"https://pith.science/pith/BGYQKBYBQ3P6S2TXOAGHSLRMT6/action/author_attestation","sign_citation":"https://pith.science/pith/BGYQKBYBQ3P6S2TXOAGHSLRMT6/action/citation_signature","submit_replication":"https://pith.science/pith/BGYQKBYBQ3P6S2TXOAGHSLRMT6/action/replication_record"}},"created_at":"2026-05-21T02:05:32.855791+00:00","updated_at":"2026-05-21T02:05:32.855791+00:00"}